version: 66.12
revision: DORADO
glider: 573
mission: 30
dive: 277
start: 4 20 119 2 47 37
data:
$ID,573
$MISSION,30
$DIVE,277
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,29
$D_BOOST,0
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,335
$T_MISSION,345
$T_ABORT,360
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52619
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,180
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4743.3999
$TGT_DEFAULT_LON,-12224.2
$TGT_AUTO_DEFAULT,0
$SM_CC,542.59473
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,259
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100840
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,139
$PITCH_MAX,3926
$C_PITCH,2490
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,27
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,167
$ROLL_MAX,3807
$ROLL_DEG,40
$C_ROLL_DIVE,2013
$C_ROLL_CLIMB,1964
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,59
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2812
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,310
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$MAXI_24V,3
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-167.97279
$PRESSURE_SLOPE,0.00010902
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.85000002
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,17
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043368991
$SEABIRD_T_H,0.00062533951
$SEABIRD_T_I,2.3700677e-05
$SEABIRD_T_J,2.5956786e-06
$SEABIRD_C_G,-9.9432478
$SEABIRD_C_H,1.1588655
$SEABIRD_C_I,-0.0013646155
$SEABIRD_C_J,0.00018066024
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,200419,023522,-3203.2925,2919.8591,21,0.8,27,-26.6,1.3,241.7,11,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.40
$_SM_ANGLEo,-57.6
$GPS2,200419,024711,-3203.6816,2919.5725,20,0.8,26,-26.6,0.8,195.9,11,9.6
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3214.481,2919.573
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,206.6,20000,-15.6,-9.950,-18.64,2991
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.82,-194.6,70,2037,565,596,0.0,0.0,0,123,0.00,0.00,-98.60,0.000,16386,0.000,0.000,72,2039,3278,3295,3261,0,0,0,0,0,0,14.97,28.83,14.97
$GC,127,-0.82,-194.6,72,2038,3296,3261,4.4,-13.7,18,152,13.05,2.53,-5.10,0.000,18948,0.317,0.083,2220,607,3615,3684,3546,0,0,0,0,0,0,14.33,13.00,14.68
$GC,168,-0.82,-194.6,2219,607,3677,3546,21.5,-29.8,25,175,0.00,2.33,0.00,0.000,3078,0.000,0.048,2217,1994,3611,3676,3546,0,0,0,0,0,0,14.83,14.71,14.84
$GC,239,-0.82,-194.6,2216,1994,3678,3546,35.3,-19.9,38,244,0.00,0.00,0.00,0.000,2054,0.000,0.000,2216,1994,3612,3678,3546,0,0,0,0,0,0,15.01,15.01,15.01
$GC,307,-0.82,-194.6,2217,1994,3678,3546,45.3,-13.2,51,314,0.00,2.40,0.00,0.000,2564,0.000,0.070,2217,616,3612,3678,3546,0,0,0,0,0,0,15.04,14.69,15.04
$GC,340,-0.82,-194.6,2216,615,3678,3546,49.8,-13.6,57,347,0.00,2.38,0.00,0.000,3078,0.000,0.047,2217,2024,3615,3678,3553,0,0,0,0,0,0,14.79,14.67,14.81
$GC,411,-0.82,-194.6,2216,2024,3678,3546,58.8,-12.7,70,418,0.00,2.47,0.00,0.000,2564,0.000,0.070,2217,611,3612,3678,3546,0,0,0,0,0,0,15.04,14.69,15.04
$GC,454,-0.82,-194.6,2216,610,3678,3546,64.7,-13.5,78,461,0.00,2.33,0.00,0.000,3078,0.000,0.047,2216,2015,3612,3678,3546,0,0,0,0,0,0,14.71,14.60,14.73
$GC,524,-0.82,-194.6,2216,2015,3678,3546,73.2,-12.2,91,531,0.00,2.47,0.00,0.000,2308,0.000,0.077,2216,3412,3612,3679,3546,0,0,0,0,0,0,15.06,14.56,15.06
$GC,589,-0.82,-194.6,2215,3412,3679,3546,81.4,-12.7,103,595,0.00,2.33,0.00,0.000,3078,0.000,0.040,2216,2017,3612,3679,3546,0,0,0,0,0,0,14.90,14.78,14.91
$GC,661,-0.82,-194.6,2216,2017,3679,3546,90.3,-12.5,116,668,0.00,2.50,0.00,0.000,2308,0.000,0.073,2211,3414,3612,3679,3545,0,0,0,0,0,0,15.08,14.71,15.08
$GC,700,-0.82,-194.6,2210,3415,3678,3546,95.2,-12.6,123,708,0.05,2.35,0.00,0.000,3078,0.321,0.039,2222,2009,3612,3679,3546,0,0,0,0,0,0,14.51,14.71,14.71
$GC,770,-0.82,-194.6,2222,2009,3680,3546,103.2,-10.9,136,776,0.00,2.50,0.00,0.000,2308,0.000,0.073,2222,3416,3612,3680,3545,0,0,0,0,0,0,15.07,14.61,15.07
$GC,813,-0.82,-194.6,2221,3416,3680,3546,107.9,-10.4,144,820,0.00,2.33,0.00,0.000,3078,0.000,0.039,2222,2015,3613,3680,3546,0,0,0,0,0,0,14.91,14.80,14.92
$GC,884,-0.82,-194.6,2221,2015,3680,3546,115.0,-9.9,157,891,0.00,2.42,0.00,0.000,2564,0.000,0.070,2222,607,3612,3680,3545,0,0,0,0,0,0,15.07,14.56,15.07
$GC,917,-0.82,-194.6,2222,607,3682,3546,118.7,-10.7,163,924,0.00,2.33,0.00,0.000,3078,0.000,0.046,2222,2015,3613,3680,3546,0,0,0,0,0,0,14.91,14.79,14.92
$GC,988,-0.82,-194.6,2222,2015,3680,3545,125.4,-10.3,176,994,0.00,2.47,0.00,0.000,2308,0.000,0.078,2222,3418,3612,3680,3545,0,0,0,0,0,0,15.07,14.71,15.08
$GC,1022,-0.82,-194.6,2222,3418,3680,3546,129.1,-10.1,182,1028,0.00,2.35,0.00,0.000,3078,0.000,0.038,2222,2010,3613,3680,3546,0,0,0,0,0,0,14.92,14.85,14.93
$GC,1093,-0.82,-194.6,2221,2009,3680,3546,136.2,-10.2,195,1099,0.00,0.00,0.00,0.000,2054,0.000,0.000,2222,2009,3612,3680,3545,0,0,0,0,0,0,15.08,15.07,15.07
$GC,1162,-0.82,-194.6,2222,2009,3680,3546,144.2,-10.8,208,1169,0.00,2.50,0.00,0.000,2308,0.000,0.073,2222,3419,3612,3680,3545,0,0,0,0,0,0,15.09,14.72,15.09
$GC,1201,-0.82,-194.6,2221,3418,3680,3545,148.0,-10.5,215,1208,0.00,2.35,0.00,0.000,3078,0.000,0.038,2222,2010,3612,3680,3545,0,0,0,0,0,0,14.92,14.81,14.93
$GC,1271,-0.82,-194.6,2221,2009,3680,3545,155.4,-11.1,228,1277,0.00,0.00,0.00,0.000,2054,0.000,0.000,2222,2009,3612,3680,3545,0,0,0,0,0,0,15.09,15.09,15.09
$GC,1339,-0.82,-194.6,2221,2010,3680,3545,162.5,-10.4,241,1345,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2010,3612,3680,3545,0,0,0,0,0,0,15.09,15.09,15.09
$GC,1408,-0.82,-194.6,2221,2010,3680,3545,170.1,-10.7,254,1415,0.00,2.47,0.00,0.000,2308,0.000,0.073,2221,3413,3612,3680,3545,0,0,0,0,0,0,15.09,14.73,15.09
$GC,1457,-0.82,-194.6,2221,3415,3680,3545,175.4,-10.3,263,1464,0.00,2.33,0.00,0.000,3078,0.000,0.038,2221,2016,3612,3680,3545,0,0,0,0,0,0,14.92,14.83,14.94
$GC,1528,-0.82,-194.6,2221,2016,3680,3545,182.3,-10.8,276,1534,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2016,3612,3680,3545,0,0,0,0,0,0,15.10,15.10,15.10
$GC,1596,-0.82,-194.6,2221,2016,3680,3545,190.0,-11.1,289,1603,0.00,2.50,0.00,0.000,2308,0.000,0.072,2221,3418,3612,3680,3545,0,0,0,0,0,0,15.09,14.71,15.09
$GC,1626,-0.82,-194.6,2221,3418,3680,3545,193.2,-10.9,294,1633,0.00,2.35,0.00,0.000,3078,0.000,0.038,2221,2012,3611,3680,3542,0,0,0,0,0,0,14.92,14.81,14.94
$GC,1697,-0.82,-194.6,2221,2013,3680,3545,200.9,-11.1,307,1703,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2012,3612,3680,3545,0,0,0,0,0,0,15.11,15.11,15.11
$GC,1765,-0.82,-194.6,2221,2012,3680,3543,208.9,-11.3,320,1772,0.00,2.50,0.00,0.000,2308,0.000,0.073,2222,3416,3611,3679,3544,0,0,0,0,0,0,15.11,14.65,15.11
$GC,1810,-0.82,-194.6,2221,3416,3679,3544,213.9,-11.0,328,1817,0.00,2.35,0.00,0.000,3078,0.000,0.039,2221,2000,3611,3679,3544,0,0,0,0,0,0,14.92,14.81,14.95
$GC,1881,-0.82,-194.6,2221,2001,3680,3544,221.8,-11.6,341,1887,0.00,0.00,0.00,0.000,2054,0.000,0.000,2221,2001,3611,3679,3544,0,0,0,0,0,0,15.10,15.11,15.11
$GC,1949,-0.82,-194.6,2221,2001,3679,3543,229.9,-11.6,354,1956,0.00,2.50,0.00,0.000,260,0.000,0.073,2221,3411,3611,3679,3543,0,0,0,0,0,0,15.11,14.72,15.11
$GC,1999,-0.82,-194.6,2221,3411,3679,3543,235.5,-11.1,363,2005,0.00,2.33,0.00,0.000,3078,0.000,0.040,2221,2014,3611,3679,3543,0,0,0,0,0,0,14.92,14.82,14.95
$GC,2069,-0.82,-194.6,2221,2014,3679,3543,243.6,-11.6,376,2076,0.00,2.47,0.00,0.000,2308,0.000,0.073,2217,3410,3610,3678,3543,0,0,0,0,0,0,15.10,14.73,15.11
$GC,2098,-0.82,-194.6,2217,3411,3678,3543,247.1,-11.9,381,2105,0.00,2.33,0.00,0.000,3078,0.000,0.040,2218,2014,3610,3678,3542,0,0,0,0,0,0,14.93,14.82,14.95
$GC,2169,-0.82,-194.6,2217,2013,3678,3543,255.3,-11.9,394,2176,0.00,2.47,0.00,0.000,2308,0.000,0.073,2217,3410,3610,3678,3543,0,0,0,0,0,0,15.11,14.73,15.11
$GC,2202,-0.82,-194.6,2217,3410,3678,3543,259.7,-11.5,400,2209,0.00,2.33,0.00,0.000,3078,0.000,0.040,2217,2008,3610,3678,3542,0,0,0,0,0,0,14.93,14.81,14.95
$GC,2274,-0.82,-194.6,2217,2007,3678,3542,267.6,-11.5,413,2279,0.00,0.00,0.00,0.000,2054,0.000,0.000,2217,2008,3610,3678,3542,0,0,0,0,0,0,15.12,15.12,15.12
$GC,2341,-0.82,-194.6,2217,2008,3678,3542,275.0,-11.2,426,2348,0.00,2.50,0.00,0.000,2308,0.000,0.073,2217,3417,3609,3677,3542,0,0,0,0,0,0,15.11,14.73,15.11
$GC,2385,-0.82,-194.6,2217,3416,3677,3542,279.8,-10.6,434,2393,0.00,2.35,0.00,0.000,3078,0.000,0.040,2217,2012,3609,3677,3542,0,0,0,0,0,0,14.85,14.73,14.87
$GC,2456,-0.82,-194.6,2217,2012,3677,3542,287.2,-10.5,447,2462,0.00,0.00,0.00,0.000,2054,0.000,0.000,2217,2012,3609,3677,3542,0,0,0,0,0,0,15.11,15.12,15.12
$GC,2524,-0.82,-194.6,2217,2012,3677,3545,294.4,-10.2,460,2531,0.00,2.50,0.00,0.000,2308,0.000,0.073,2217,3411,3609,3676,3542,0,0,0,0,0,0,15.13,14.54,15.13
$GC,2548,-0.82,-194.6,2217,3411,3676,3542,296.8,-10.2,464,2555,0.00,2.33,0.00,0.000,3078,0.000,0.040,2217,2011,3609,3677,3542,0,0,0,0,0,0,14.93,14.81,14.95
$GC,2622,-0.82,-194.6,2217,2011,3676,3541,304.5,-10.8,472,2624,0.00,0.00,0.00,0.000,2054,0.000,0.000,2217,2011,3609,3676,3542,0,0,0,0,0,0,15.13,15.14,15.14
$GC,2742,-0.82,-194.6,2217,2011,3676,3541,317.0,-10.7,478,2747,0.00,2.50,0.00,0.000,2308,0.000,0.074,2217,3418,3608,3676,3541,0,0,0,0,0,0,15.14,14.74,15.15
$GC,2794,-0.82,-194.6,2217,3418,3676,3540,321.3,-10.6,480,2799,0.00,2.33,0.00,0.000,3078,0.000,0.041,2217,2010,3608,3676,3541,0,0,0,0,0,0,14.80,14.66,14.81
$GC,2927,-0.82,-194.6,2217,2010,3676,3540,337.0,-11.2,487,2932,0.00,2.50,0.00,0.000,2308,0.000,0.075,2220,3411,3608,3676,3541,0,0,0,0,0,0,15.16,14.75,15.16
$GC,2972,-0.82,-194.6,2217,3411,3675,3540,341.7,-11.1,489,2977,0.00,2.33,0.00,0.000,3078,0.000,0.041,2217,2007,3608,3675,3541,0,0,0,0,0,0,14.97,14.84,15.01
$GC,3114,-0.82,-194.6,2217,2007,3675,3539,357.6,-11.0,496,3120,0.00,2.50,0.00,0.000,2308,0.000,0.075,2216,3413,3606,3674,3539,0,0,0,0,0,0,15.17,14.75,15.17
$GC,3158,-0.82,-194.6,2217,3413,3674,3539,362.0,-10.6,498,3163,0.00,2.33,0.00,0.000,3078,0.000,0.041,2217,2018,3606,3674,3539,0,0,0,0,0,0,14.97,14.88,14.99
$GC,3301,-0.82,-194.6,2217,2018,3674,3538,376.9,-10.5,505,3306,0.00,2.47,0.00,0.000,2308,0.000,0.074,2217,3415,3606,3674,3538,0,0,0,0,0,0,15.17,14.76,15.18
$GC,3332,-0.82,-194.6,2216,3415,3673,3537,379.3,-10.5,506,3338,0.00,2.35,0.00,0.000,3078,0.000,0.041,2217,2000,3605,3673,3538,0,0,0,0,0,0,14.96,14.83,14.98
$GC,3465,-0.82,-194.6,2216,1999,3672,3537,394.1,-10.6,513,3470,0.00,2.53,0.00,0.000,2308,0.000,0.075,2217,3418,3605,3673,3537,0,0,0,0,0,0,15.19,14.76,15.19
$GC,3508,-0.82,-194.6,2216,3417,3673,3537,398.5,-10.5,515,3513,0.00,2.35,0.00,0.000,3078,0.000,0.042,2217,2004,3605,3673,3537,0,0,0,0,0,0,14.96,14.83,14.97
$GC,3651,-0.82,-194.6,2216,2004,3672,3536,413.7,-10.6,522,3656,0.00,2.50,0.00,0.000,2308,0.000,0.076,2216,3410,3603,3671,3536,0,0,0,0,0,0,15.19,14.76,15.19
$GC,3697,-0.82,-194.6,2216,3410,3671,3536,418.0,-10.4,524,3703,0.00,2.33,0.00,0.000,3078,0.000,0.041,2216,2015,3603,3671,3536,0,0,0,0,0,0,14.97,14.85,15.00
$GC,3836,-0.82,-194.6,2216,2015,3668,3535,431.6,-9.5,531,3842,0.00,2.47,0.00,0.000,2308,0.000,0.074,2216,3409,3603,3671,3535,0,0,0,0,0,0,15.17,14.76,15.18
$GC,3888,-0.82,-194.6,2215,3410,3671,3535,435.5,-9.2,533,3894,0.00,2.33,0.00,0.000,3078,0.000,0.042,2216,2004,3602,3670,3535,0,0,0,0,0,0,14.97,14.83,14.99
$GC,4022,-0.82,-194.6,2216,2004,3670,3534,448.5,-9.3,540,4027,0.00,2.50,0.00,0.000,2308,0.000,0.076,2214,3409,3601,3669,3534,0,0,0,0,0,0,15.17,14.74,15.18
$GC,4065,-0.82,-194.6,2214,3410,3669,3534,452.3,-8.9,542,4070,0.00,2.33,0.00,0.000,3078,0.000,0.042,2214,2016,3602,3670,3534,0,0,0,0,0,0,14.97,14.84,14.99
$GC,4208,-0.82,-194.6,2214,2015,3669,3533,465.9,-9.8,549,4213,0.00,2.50,0.00,0.000,2308,0.000,0.076,2214,3418,3600,3669,3532,0,0,0,0,0,0,15.17,14.73,15.18
$GC,4265,-0.82,-194.6,2214,3418,3668,3533,470.3,-10.1,551,4271,0.00,2.38,0.00,0.000,3078,0.000,0.042,2214,2001,3600,3668,3532,0,0,0,0,0,0,14.76,14.63,14.79
$GC,4391,-0.82,-194.6,2214,2001,3668,3533,487.7,-13.1,558,4392,0.00,0.00,0.00,0.000,2054,0.000,0.000,2214,2001,3600,3668,3533,0,0,0,0,0,0,15.16,15.16,15.16
$GC,4511,-0.82,-194.6,2214,2001,3667,3532,503.1,-12.5,564,4516,0.00,2.53,0.00,0.000,2308,0.000,0.073,2213,3412,3599,3667,3532,0,0,0,0,0,0,15.17,14.74,15.17
$GC,4568,-0.82,-194.6,2213,3411,3667,3532,507.8,-11.4,566,4575,0.00,2.33,0.00,0.000,3078,0.000,0.042,2213,2017,3599,3667,3532,0,0,0,0,0,0,14.95,14.81,14.96
$GC,4695,-0.82,-194.6,2213,2017,3667,3531,521.2,-9.3,573,4700,0.00,2.50,0.00,0.000,2308,0.000,0.074,2211,3418,3599,3667,3531,0,0,0,0,0,0,15.17,14.74,15.17
$GC,4732,-0.82,-194.6,2210,3418,3667,3531,523.1,-8.8,574,4739,0.05,2.35,0.00,0.000,3078,0.325,0.044,2222,2004,3599,3667,3531,0,0,0,0,0,0,14.61,14.83,14.82
$GC,4858,-0.82,-194.6,2221,2004,3666,3530,537.1,-10.6,581,4863,0.00,2.53,0.00,0.000,2308,0.000,0.077,2221,3413,3598,3666,3530,0,0,0,0,0,0,15.17,14.72,15.17
$GC,4904,-0.82,-194.6,2221,3414,3663,3530,541.6,-10.7,583,4909,0.00,2.33,0.00,0.000,3078,0.000,0.043,2222,2010,3598,3666,3530,0,0,0,0,0,0,14.95,14.81,14.97
$GC,5042,-0.82,-194.6,2221,2008,3666,3529,557.2,-11.0,590,5047,0.00,2.42,0.00,0.000,2564,0.000,0.077,2222,615,3597,3665,3530,0,0,0,0,0,0,15.16,14.73,15.17
$GC,5074,-0.82,-194.6,2221,614,3665,3530,560.3,-12.4,591,5079,0.00,2.33,0.00,0.000,3078,0.000,0.051,2221,2014,3597,3666,3529,0,0,0,0,0,0,14.84,14.81,14.84
$GC,5206,-0.82,-194.6,2221,2014,3665,3529,575.6,-10.2,598,5212,0.00,2.47,0.00,0.000,2308,0.000,0.078,2221,3416,3599,3670,3529,0,0,0,0,0,0,15.17,14.71,15.17
$STATE,5227,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5228,begin apogee
$GC,5235,-0.19,0.0,2221,1964,3665,3529,578.3,-11.0,599,5399,1.05,0.00,158.98,1.730,10246,0.160,0.000,2426,1962,2813,2868,2758,0,0,0,0,0,0,14.57,14.26,13.35
$STATE,5400,end apogee,CONTROL_FINISHED_OK
$STATE,5400,begin climb
$GC,5404,0.82,194.6,2426,1962,2872,2751,584.2,0.0,607,5579,1.50,2.55,162.12,1.695,10756,0.099,0.080,2736,569,2016,2071,1961,0,0,0,0,0,0,14.28,14.17,13.35
$GC,5617,0.86,227.5,2735,570,2067,1959,574.0,8.8,618,5652,0.00,2.35,28.75,1.597,11270,0.000,0.042,2736,1972,1883,1939,1827,0,0,0,0,0,0,14.57,14.49,13.45
$GC,5773,0.94,295.6,2735,1972,1931,1821,562.8,7.6,626,5841,0.12,2.53,59.17,1.647,10500,0.132,0.070,2783,3354,1606,1666,1546,0,0,0,0,0,0,14.62,14.33,13.49
$GC,5857,0.94,295.6,2783,3355,1664,1545,553.9,10.9,630,5863,0.00,2.40,0.00,0.000,3078,0.000,0.050,2784,1962,1604,1664,1545,0,0,0,0,0,0,14.57,14.46,14.58
$GC,5995,0.94,295.6,2783,1961,1660,1543,538.0,10.3,637,6001,0.00,2.50,0.00,0.000,2564,0.000,0.086,2784,560,1601,1660,1543,0,0,0,0,0,0,14.92,14.59,14.92
$GC,6047,0.94,295.6,2783,559,1659,1543,532.8,11.4,639,6052,0.00,2.33,0.00,0.000,3078,0.000,0.044,2784,1961,1601,1659,1543,0,0,0,0,0,0,14.81,14.71,14.83
$GC,6180,0.94,295.6,2783,1961,1657,1543,513.7,13.7,646,6185,0.00,2.45,0.00,0.000,2308,0.000,0.069,2784,3362,1600,1657,1543,0,0,0,0,0,0,15.04,14.70,15.04
$GC,6232,0.94,295.6,2783,3362,1656,1542,507.6,13.8,648,6237,0.00,2.38,0.00,0.000,3078,0.000,0.047,2783,1958,1599,1656,1542,0,0,0,0,0,0,14.81,14.68,14.82
$GC,6365,0.94,295.6,2784,1957,1656,1542,491.1,11.0,655,6370,0.00,2.50,0.00,0.000,2308,0.000,0.072,2784,3370,1599,1656,1542,0,0,0,0,0,0,15.09,14.72,15.09
$GC,6407,0.94,295.6,2783,3370,1655,1542,486.1,11.1,657,6412,0.00,2.38,0.00,0.000,3078,0.000,0.049,2784,1963,1598,1655,1542,0,0,0,0,0,0,14.90,14.77,14.92
$GC,6550,0.94,295.6,2783,1963,1655,1541,471.4,10.1,664,6551,0.00,0.00,0.00,0.000,2054,0.000,0.000,2784,1963,1598,1655,1542,0,0,0,0,0,0,15.10,15.09,15.11
$GC,6670,0.97,318.5,2784,1963,1655,1541,460.4,9.2,670,6693,0.00,0.00,20.98,1.524,10246,0.000,0.000,2784,1963,1512,1570,1454,0,0,0,0,0,0,15.11,14.66,13.71
$GC,6810,1.00,344.8,2784,1963,1568,1453,447.6,9.0,677,6837,0.00,0.00,24.58,1.525,10246,0.000,0.000,2784,1963,1406,1466,1347,0,0,0,0,0,0,15.02,14.59,13.69
$GC,6950,1.05,378.9,2783,1962,1464,1346,435.1,8.8,684,6989,0.10,0.00,31.55,1.527,10246,0.151,0.000,2827,1963,1267,1330,1205,0,0,0,0,0,0,14.70,14.51,13.65
$GC,7110,1.05,378.9,2827,1963,1328,1204,416.1,12.5,692,7111,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1962,1268,1332,1204,0,0,0,0,0,0,14.94,14.95,14.95
$GC,7230,1.05,378.9,2826,1962,1327,1203,400.7,12.9,698,7235,0.00,2.47,0.00,0.000,516,0.000,0.087,2828,564,1265,1327,1203,0,0,0,0,0,0,15.00,14.63,15.01
$GC,7266,1.05,378.9,2827,564,1327,1203,397.7,12.9,699,7273,0.00,2.33,0.00,0.000,5126,0.000,0.047,2828,1960,1265,1327,1203,0,0,0,0,0,0,14.85,14.74,14.86
$GC,7392,1.05,378.9,2827,1960,1326,1202,378.8,13.8,706,7398,0.00,2.50,0.00,0.000,4356,0.000,0.075,2827,3365,1264,1326,1202,0,0,0,0,0,0,15.07,14.68,15.07
$GC,7429,1.05,378.9,2827,3365,1325,1202,375.4,14.2,707,7436,0.00,2.38,0.00,0.000,5126,0.000,0.052,2828,1966,1263,1325,1202,0,0,0,0,0,0,14.87,14.73,14.89
$GC,7555,1.05,378.9,2827,1966,1325,1202,354.6,15.0,714,7560,0.00,2.50,0.00,0.000,4612,0.000,0.088,2828,557,1266,1330,1203,0,0,0,0,0,0,15.08,14.67,15.08
$GC,7592,1.05,378.9,2828,557,1325,1202,351.2,14.9,715,7598,0.00,2.35,0.00,0.000,5126,0.000,0.045,2826,1971,1263,1325,1202,0,0,0,0,0,0,14.90,14.79,14.92
$GC,7718,1.05,378.9,2827,1971,1325,1202,330.4,15.1,722,7723,0.00,2.47,0.00,0.000,4356,0.000,0.074,2828,3372,1263,1325,1202,0,0,0,0,0,0,15.10,14.71,15.11
$GC,7754,1.05,378.9,2828,3372,1324,1202,327.0,15.0,723,7761,0.00,2.38,0.00,0.000,5126,0.000,0.051,2828,1964,1263,1324,1203,0,0,0,0,0,0,14.90,14.76,14.92
$GC,7880,1.05,378.9,2828,1964,1324,1202,305.2,15.6,730,7886,0.00,2.50,0.00,0.000,4612,0.000,0.088,2828,557,1263,1324,1202,0,0,0,0,0,0,15.11,14.52,15.11
$GC,7907,1.05,378.9,2827,557,1324,1202,301.6,15.7,731,7912,0.00,2.35,0.00,0.000,5126,0.000,0.045,2828,1982,1263,1324,1202,0,0,0,0,0,0,14.91,14.78,14.94
$GC,8035,1.05,378.9,2828,1982,1324,1202,282.3,14.1,754,8042,0.00,2.42,0.00,0.000,4356,0.000,0.073,2828,3358,1262,1323,1202,0,0,0,0,0,0,15.09,14.70,15.10
$GC,8069,1.05,378.9,2827,3359,1323,1202,277.6,14.4,760,8076,0.00,2.38,0.00,0.000,1030,0.000,0.050,2828,1961,1262,1323,1202,0,0,0,0,0,0,14.88,14.76,14.91
$GC,8139,1.05,378.9,2828,1961,1323,1202,268.2,13.3,773,8146,0.00,2.50,0.00,0.000,4612,0.000,0.089,2828,558,1262,1323,1202,0,0,0,0,0,0,15.09,14.66,15.09
$GC,8183,1.05,378.9,2828,558,1323,1202,262.4,12.2,781,8190,0.00,2.35,0.00,0.000,5126,0.000,0.045,2828,1961,1262,1322,1202,0,0,0,0,0,0,14.90,14.77,14.92
$GC,8254,1.05,378.9,2828,1961,1323,1202,253.8,12.8,794,8261,0.00,2.47,0.00,0.000,4356,0.000,0.073,2828,3365,1263,1323,1203,0,0,0,0,0,0,15.08,14.69,15.08
$GC,8288,1.05,378.9,2827,3361,1322,1202,249.1,13.6,800,8295,0.00,2.38,0.00,0.000,5126,0.000,0.049,2828,1960,1262,1322,1202,0,0,0,0,0,0,14.89,14.75,14.91
$GC,8358,1.05,378.9,2828,1960,1322,1209,240.6,12.3,813,8364,0.00,2.47,0.00,0.000,4612,0.000,0.088,2828,561,1262,1323,1202,0,0,0,0,0,0,15.07,14.66,15.08
$GC,8392,1.05,378.9,2828,561,1322,1202,236.1,12.5,819,8399,0.00,2.35,0.00,0.000,5126,0.000,0.045,2828,1970,1262,1322,1202,0,0,0,0,0,0,14.81,14.68,14.83
$GC,8462,1.05,378.9,2828,1970,1322,1202,227.5,12.7,832,8469,0.00,2.47,0.00,0.000,4356,0.000,0.074,2828,3352,1262,1322,1202,0,0,0,0,0,0,15.08,14.63,15.08
$GC,8506,1.05,378.9,2828,3352,1322,1202,221.3,13.8,840,8513,0.00,2.38,0.00,0.000,5126,0.000,0.050,2829,1964,1262,1322,1202,0,0,0,0,0,0,14.88,14.73,14.90
$GC,8577,1.05,378.9,2828,1964,1322,1209,211.9,13.9,853,8583,0.00,2.50,0.00,0.000,4612,0.000,0.088,2832,560,1262,1322,1202,0,0,0,0,0,0,15.07,14.64,15.07
$GC,8606,1.05,378.9,2831,560,1322,1202,207.7,13.9,858,8612,0.00,2.33,0.00,0.000,5126,0.000,0.044,2831,1958,1262,1322,1202,0,0,0,0,0,0,14.89,14.76,14.90
$GC,8676,1.05,378.9,2831,1958,1323,1202,198.3,13.6,871,8683,0.00,2.50,0.00,0.000,4356,0.000,0.073,2831,3365,1262,1322,1202,0,0,0,0,0,0,15.08,14.58,15.08
$GC,8710,1.05,378.9,2831,3365,1322,1202,193.1,15.3,877,8717,0.00,2.38,0.00,0.000,5126,0.000,0.050,2831,1964,1262,1322,1202,0,0,0,0,0,0,14.71,14.58,14.72
$GC,8780,1.05,378.9,2832,1964,1322,1202,183.8,13.5,890,8787,0.00,2.53,0.00,0.000,4612,0.000,0.087,2831,555,1263,1321,1205,0,0,0,0,0,0,15.06,14.44,15.06
$GC,8824,1.05,378.9,2832,554,1322,1202,177.8,13.2,898,8831,0.00,2.38,0.00,0.000,5126,0.000,0.044,2831,1970,1262,1322,1202,0,0,0,0,0,0,14.87,14.74,14.89
$GC,8895,1.05,378.9,2831,1970,1322,1202,168.8,12.9,911,8901,0.00,2.45,0.00,0.000,4356,0.000,0.073,2832,3361,1262,1322,1202,0,0,0,0,0,0,15.04,14.65,15.05
$GC,8929,1.05,378.9,2830,3361,1322,1202,164.1,12.9,917,8935,0.00,2.38,0.00,0.000,5126,0.000,0.050,2831,1963,1262,1322,1202,0,0,0,0,0,0,14.85,14.71,14.88
$GC,8999,1.05,378.9,2831,1963,1322,1202,154.7,13.5,930,9005,0.00,2.50,0.00,0.000,4612,0.000,0.088,2831,561,1262,1322,1202,0,0,0,0,0,0,15.03,14.62,15.03
$GC,9032,1.05,378.9,2831,561,1322,1202,150.1,13.1,936,9039,0.00,2.38,0.00,0.000,5126,0.000,0.044,2831,1977,1261,1321,1202,0,0,0,0,0,0,14.83,14.64,14.85
$GC,9103,1.05,378.9,2830,1977,1322,1202,141.3,12.8,949,9110,0.00,2.50,0.00,0.000,4356,0.000,0.073,2832,3359,1262,1322,1202,0,0,0,0,0,0,15.04,14.64,15.04
$GC,9137,1.05,378.9,2831,3360,1322,1202,136.4,13.5,955,9143,0.00,2.40,0.00,0.000,5126,0.000,0.050,2831,1961,1262,1322,1202,0,0,0,0,0,0,14.76,14.62,14.77
$GC,9207,1.05,378.9,2831,1961,1322,1202,127.5,13.0,968,9214,0.00,2.53,0.00,0.000,4612,0.000,0.087,2832,555,1261,1321,1202,0,0,0,0,0,0,15.04,14.59,15.04
$GC,9241,1.05,378.9,2831,555,1322,1202,122.9,13.1,974,9248,0.00,2.35,0.00,0.000,5126,0.000,0.044,2832,1962,1261,1321,1201,0,0,0,0,0,0,14.73,14.58,14.76
$GC,9312,1.05,378.9,2831,1962,1321,1202,114.1,13.5,987,9318,0.00,2.47,0.00,0.000,4356,0.000,0.073,2831,3358,1261,1321,1202,0,0,0,0,0,0,15.03,14.54,15.03
$GC,9331,1.05,378.9,2831,3358,1322,1202,111.3,13.9,990,9337,0.00,2.38,0.00,0.000,5126,0.000,0.049,2832,1964,1262,1322,1202,0,0,0,0,0,0,14.62,14.49,14.65
$GC,9401,1.05,378.9,2831,1961,1322,1202,102.7,12.1,1003,9408,0.00,2.50,0.00,0.000,4612,0.000,0.086,2832,561,1262,1322,1202,0,0,0,0,0,0,15.04,14.45,15.03
$GC,9445,1.05,378.9,2831,561,1321,1202,97.3,11.7,1011,9452,0.00,2.33,0.00,0.000,5126,0.000,0.044,2832,1961,1261,1321,1202,0,0,0,0,0,0,14.87,14.73,14.85
$GC,9516,1.05,378.9,2831,1961,1322,1202,89.6,11.0,1024,9522,0.00,2.50,0.00,0.000,4356,0.000,0.073,2832,3360,1261,1321,1202,0,0,0,0,0,0,15.03,14.45,15.04
$GC,9555,1.05,378.9,2831,3361,1321,1202,84.8,11.7,1031,9562,0.00,2.40,0.00,0.000,5126,0.000,0.050,2832,1956,1262,1322,1202,0,0,0,0,0,0,14.70,14.69,14.71
$GC,9625,1.05,378.9,2831,1956,1322,1202,77.7,10.5,1044,9632,0.00,2.50,0.00,0.000,4612,0.000,0.087,2832,557,1261,1321,1202,0,0,0,0,0,0,15.02,14.54,15.02
$GC,9664,1.05,378.9,2831,557,1323,1202,73.6,10.1,1051,9671,0.00,2.35,0.00,0.000,5126,0.000,0.044,2832,1971,1262,1322,1202,0,0,0,0,0,0,14.83,14.70,14.85
$GC,9736,1.06,392.1,2831,1971,1321,1202,66.4,9.5,1064,9754,0.00,2.42,12.02,1.004,8452,0.000,0.072,2832,3353,1212,1273,1152,0,0,0,0,0,0,15.04,14.32,13.72
$GC,9777,1.06,392.1,2831,3354,1273,1152,61.9,11.1,1071,9783,0.00,2.38,0.00,0.000,1030,0.000,0.048,2831,1963,1212,1273,1152,0,0,0,0,0,0,14.73,14.62,14.76
$GC,9847,1.06,392.1,2831,1963,1273,1152,54.5,10.8,1084,9853,0.00,2.50,0.00,0.000,516,0.000,0.086,2832,555,1212,1273,1152,0,0,0,0,0,0,14.99,14.52,15.00
$GC,9886,1.06,392.1,2831,555,1273,1152,50.2,10.6,1091,9893,0.00,2.35,0.00,0.000,1030,0.000,0.043,2832,1954,1212,1273,1152,0,0,0,0,0,0,14.63,14.53,14.66
$GC,9957,1.06,392.1,2832,1954,1272,1152,43.4,10.5,1104,9964,0.00,2.50,0.00,0.000,260,0.000,0.073,2832,3372,1212,1273,1152,0,0,0,0,0,0,15.00,14.60,15.01
$GC,9977,1.06,392.1,2831,3370,1272,1151,41.0,11.3,1107,9983,0.00,2.42,0.00,0.000,1030,0.000,0.049,2832,1959,1211,1272,1151,0,0,0,0,0,0,14.74,14.60,14.73
$GC,10048,1.13,446.0,2832,1960,1273,1151,35.3,8.1,1120,10104,0.00,2.53,47.22,1.041,10756,0.000,0.087,2832,565,990,1050,930,0,0,0,0,0,0,15.02,14.42,13.81
$GC,10136,1.19,499.2,2831,565,1050,932,28.1,8.1,1136,10188,0.10,2.38,44.50,1.005,11270,0.151,0.041,2877,1977,776,803,749,0,0,0,0,0,0,14.51,14.53,13.71
$GC,10252,1.19,499.2,2877,1977,803,742,16.9,11.0,1157,10259,0.00,2.50,0.00,0.000,4356,0.000,0.071,2877,3364,776,811,741,0,0,0,0,0,0,14.81,14.49,14.81
$GC,10312,1.28,570.6,2877,3365,803,740,11.9,7.5,1168,10347,0.00,2.42,29.12,0.880,11270,0.000,0.052,2879,1964,599,573,625,0,0,0,0,0,0,14.64,14.50,13.81
$STATE,10397,end climb,SURFACE_DEPTH_REACHED
$STATE,10397,begin surface coast
$FINISH,0.4,1.023873
$STATE,10419,end surface coast,CONTROL_FINISHED_OK
$STATE,10419,begin surface
$SM_CCo,10503,0.00,0.000,0,0,595,543.82
$SM_GC,0.45,12.98,0.05,0.00,0.051,0.179,0.000,142,2020,595,-7.27,-1.30,543.82,0,0,0,0,0,0,14.66,14.64,14.72
$IRIDIUM_FIX,-3148.08,2921.05,200419,003258
$TT8_MAMPS,0.019474,0.860601
$HUMID,65.35
$INTERNAL_PRESSURE,9.00389
$TCM_TEMP,20.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.7
$ALTIM_BOTTOM_PING,571.2,21.3
$SC_FREEKB,3776512
$24V_AH,13.00,160.635
$10V_AH,12.24,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,29.000,300.375,619.000,0.000,0.000,22.857,37.587,362.658,13.000,0.000,27.470,2990.541,4071.975,1019.129,2753.043,371.482,0.000,2333.440,0.000,2088.612,0.000,83.141,0.000
$DEVICE_MAMPS,325.125,179.010,1729.665,0.000,0.000,32.890,160.000,223.000,420.000,0.000,23.220,8.570,2.190,8.570,28.050,41.530,0.000,12.400,0.000,17.230,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10502.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.420,0.000,0.000,0.000
$MEM,339556
$DATA_FILE_SIZE,39974,1188
$CAP_FILE_SIZE,276143,0
$CFSIZE,1023623168,981827584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,200419,054401,-3207.177,2917.872,40,0.9,45,-26.7,2.0,190.2,9,7.1